pepijn223 c020c0d053 refactor(pi052): split pi05_backbone into pi_gemma + modeling_pi052 ...

Eliminate the standalone pi052/pi05_backbone.py by distributing its contents:
- Generic dual-expert transformer machinery -> lerobot/policies/pi_gemma.py
  (sdpa_attention_forward, compute_layer_complete, PaliGemmaWithExpertModel,
  get_gemma_config; the openpi width/depth config is renamed GemmaConfig ->
  GemmaVariantConfig to avoid clashing with transformers' GemmaConfig). These
  sit next to the existing PiGemma layer code they already depend on.
- pi052-specific model + helpers -> pi052/modeling_pi052.py (PI05Pytorch,
  ActionSelectKwargs, make_att_2d_masks, pad_vector, resize_with_pad_torch,
  create_sinusoidal_pos_embedding, sample_beta, get_safe_dtype).

DEFAULT_IMAGE_SIZE is duplicated as a plain constant in pi_gemma to avoid a
pi_gemma -> pi05 import cycle. Additive to pi_gemma; pi0/pi05 unaffected.
Verified bit-exact on pepijn223/pi052_robocasa_full (embed/predict/forward
identical) and all 34 pi052 tests pass.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-06-04 20:18:18 +02:00

..

annotations

annotate: compress conftest + pyproject comments (fix stale backend note)

2026-06-04 14:12:04 +02:00

artifacts

feat(encoding parameters): adding support for user provided video encoding parameters (#3455)

2026-05-14 23:46:42 +02:00

async_inference

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

cameras

test(cameras): skip flaky async_read test (#3106)

2026-03-08 14:02:33 +01:00

configs

Merge branch 'feat/language-annotation-pipeline' into feat/smolvla-on-steerable

2026-05-25 14:47:09 +02:00

datasets

Merge remote-tracking branch 'origin/feat/language-annotation-pipeline' into feat/smolvla-on-steerable

2026-05-25 16:56:22 +02:00

envs

feat(envs): add RoboTwin 2.0 benchmark (#3315)

2026-04-20 17:46:39 +02:00

fixtures

Merge branch 'main' into feat/language-annotation-pipeline

2026-05-25 15:46:32 +02:00

mocks

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

motors

fix(feetech): motor position readings overflow (#3373)

2026-04-13 22:39:58 +02:00

optim

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

policies

refactor(pi052): split pi05_backbone into pi_gemma + modeling_pi052

2026-06-04 20:18:18 +02:00

processor

Merge remote-tracking branch 'origin/feat/language-annotation-pipeline' into feat/smolvla-on-steerable

2026-05-25 16:56:22 +02:00

rewards

feat(rewards): add ROBOMETER reward model (#3627)

2026-05-29 21:45:39 +02:00

rl

RL stack refactoring (#3075)

2026-05-12 15:49:54 +02:00

robots

feat(robots): natively integrate Seeed Studio reBot B601-DM arm (#3624)

2026-05-18 19:49:21 +02:00

scripts

annotate: address review feedback — bug fixes, docs/code drift, naming, cleanup

2026-06-03 18:30:46 +02:00

teleoperators

feat(robots): natively integrate Seeed Studio reBot B601-DM arm (#3624)

2026-05-18 19:49:21 +02:00

training

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

transport

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

utils

Add extensive language support (#3467)

2026-05-19 14:46:11 +02:00

__init__.py

chore(doc): add license header to all files (#818)

2025-03-05 17:56:51 +01:00

conftest.py

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

test_available.py

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00

test_cli_peft.py

feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

2026-04-28 00:57:35 +02:00

test_control_robot.py

feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

2026-04-28 00:57:35 +02:00

test_robomme_env.py

feat(envs): add RoboMME benchmark (#3311)

2026-04-20 20:21:27 +02:00

test_rollout.py

feat(rollout): decouple policy deployment from data recording with new lerobot-rollout CLI (#3413)

2026-04-28 00:57:35 +02:00

test_yaml_policy_path.py

Fix policy.path in YAML configs (PR #3145 followup) (#3597)

2026-05-26 14:01:19 +02:00

utils.py

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00